A new elastic structure for a compliant robot wrist

Abstract

SUMMARY A new elastic structure of a robot wrist, which exhibits a six decree of freedom flexural capability, is described. Force and compliance analysis is made, and algorithms for geometrical parameter synthesis are proposed. Owing to the technological simplicity of the designed structure, it is possible to construct cost-effective compliance devices. The intended use is to permit the assembly of close tolerance parts with industrial robots having relatively low positional accuracy. It could also be applied to other manual or automatic matching operations.